The 6D pose of an object is composed of 3D location and 3D orientation.
The pose describes the transformation from a local coordinate system of the object to a reference coordinate system (e.g. camera or robot coordinate) [1]}, as shown in Figure REF .
Knowing the accurate 6D pose of an object is necessary for robotic applications such as dexterous grasping and manipulation.
This problem is challenging due to occlusion, clutter and varying lighting conditions.
